System and method for shape deformation and force display of devices

ABSTRACT

Various systems, devices, and methods for shape deformation of a haptic deformation display device are provided. For example, the haptic deformation display device may receive an input signal when the shape of the haptic deformation display device is in a first shape configuration. In response to the input signal, the haptic deformation display device may activate an actuator of the haptic deformation display device. The actuator may move a deformation component of the haptic deformation display device. The deformation component may at least partially defining a shape of the haptic deformation display device, thereby causing the shape of the haptic deformation display device to deform into a second shape configuration different from the first shape configuration. The second shape configuration may be substantially maintained.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of application Ser. No. 12/776,053 filed on May 7, 2010 (herein incorporated by reference in its entirety), which claims priority to U.S. provisional patent application Ser. No. 61/176,431, filed May 7, 2009, which is hereby incorporated by reference in its entirety.

FIELD

The disclosure relates to systems, devices, and methods for haptic interface devices and more particularly to shape deformation of devices.

BACKGROUND

Devices increasingly employ haptic actuators to generate haptic feedback in order to enrich the user interface experience. For example, cell phones, game controllers, automotive controls, and other devices use haptic feedback to convey information to a user. In some existing systems, different haptic feedback parameters such as frequency, magnitude, and/or other parameters may be used to communicate different information. Thus, the user may receive different information via haptic feedback in addition to or instead of audio/visual feedback.

SUMMARY

In one embodiment, a haptic deformation display device may receive an input signal when the shape of the haptic deformation display device is in a first shape configuration. In response to the input signal, the haptic deformation display device may activate an actuator of the haptic deformation display device. The actuator may move a deformation component of the haptic deformation display device. The deformation component may at least partially define a shape of the haptic deformation display device, thereby causing the shape of the haptic deformation display device to deform into a second shape configuration different from the first shape configuration. The second shape configuration may be substantially maintained.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram of a system for shape deformation, according to various embodiments of the invention.

FIG. 2a is a block diagram of a cutaway view of a haptic deformation device in a non-deformed shape configuration, according to various embodiments of the invention.

FIG. 2b is a block diagram of a cutaway view of a haptic deformation device in a deformed shape configuration, according to various embodiments of the invention.

FIG. 2c is a block diagram of a haptic deformation device with a top plate in a deformed shape configuration, according to various embodiments of the invention.

FIG. 2d is a block diagram of a haptic deformation device with a flexible housing in a deformed shape configuration, according to various embodiments of the invention.

FIGS. 3a -1 and 3 a-2 are cross-sectional views of a haptic deformation device in a non-deformed shape configuration with a super-imposed partial view of the non-deformed shape as illustrated in FIG. 2a , according to various embodiments of the invention.

FIGS. 3b -1 and 3 b-2 are cross-sectional views of a haptic deformation device in a deformed shape configuration with a super-imposed partial view of the deformed shape as illustrated in FIG. 2b , according to various embodiments of the invention.

FIG. 4 is a cross-sectional view of a haptic deformation device, according to various embodiments of the invention.

FIG. 5 is a perspective view of a block diagram of a haptic deformation device, according to various embodiments of the invention.

FIG. 6 is a flow diagram of a process for shape deformation, according to various embodiments of the invention.

FIG. 7 is a flow diagram of a process for moving a deformation component, according to various embodiments of the invention.

DETAILED DESCRIPTION

Various embodiments of the invention relate to systems, devices and methods for shape deformation of a haptic deformation device. For example, the system may include a haptic deformation device that receives a shape input signal when the haptic deformation device is in a first shape configuration. The haptic deformation device may include an actuator that moves a deformation component of the haptic deformation device in response to the shape input signal.

The deformation component at least partially defines the shape of the haptic deformation device, thereby causing the shape of the haptic deformation device to deform into a second shape configuration different from the first shape configuration when the deformation component is moved by the actuator. The haptic deformation device may include a game controller that is coupled to a game console or other host computer, a communication device such as a cellular telephone, a computer peripheral such as a mouse, a gaming device that changes shape based on events in a game being run on the gaming device, or other device that includes an actuator configured to move a deformation component in response to a shape input signal.

FIG. 1 is a block diagram of a system 100 for shape deformation, according to various embodiments of the invention. System 100 may include a haptic deformation display device 102 coupled to a remote device 104 via link 103. Link 103 may be a wireless link, a wired link, and/or other link between haptic deformation display device 102 and remote device 104. Haptic deformation display device 102 may include a game controller, a communication device, a computer peripheral such as a mouse, and/or other device that is configured to deform its shape configuration in response to a shape input signal. “Shape configuration” refers to a shape of haptic deformation display device 102 as felt by a user. “Deforming” a shape from a first shape configuration to a second shape configuration refers to a macro change in the shape such that a user is able to perceive a change in the shape by touch and/or sight. A macro change may differ from a vibration in that the change occurs in a single cycle or in a small number of cycles instead of a high number of cycles per second of change on a periodic basis (e.g., 25-100 Hz) as occurs with a typical vibration. Remote device 104 may include a game console or other computing device, another haptic deformation device, a cellular tower, and/or other device coupled to haptic deformation display device 102. Although illustrated in FIG. 1 as being coupled to remote device 104, in some embodiments, haptic deformation display device 102 may be a standalone device such as, for example, a handheld gaming device.

Through various modules and components, haptic deformation display device 102 may deform its outer shape in response to the shape input signal. For example, haptic deformation display device 102 may include an actuator 110, a deformation component 114, an input/output device 116 (“IO device 116”), a sensor 117, a processor 118, a memory 120, and/or other components.

Actuator 110 may be coupled to and move deformation component 114 in response to the shape input signal. Actuator 110 may include a piezo-electric actuator, rotating/linear actuator, a solenoid, an electroactive polymer actuator, shape memory alloy, and/or other actuator. In some embodiments, deformation component 114 at least partially defines a shape of haptic deformation display device 102. In some embodiments, deformation component 114 may form at least a portion of a housing of haptic deformation display device 102. In some embodiments, deformation component 114 may be housed inside a flexible housing that deforms according to movement of deformation component 114. Thus, movement of deformation component 114 may deform the outer shape of haptic deformation display device

In some embodiments, actuator 110 may generate one or more haptic effects in addition to or instead of moving deformation component 114. In this manner, for example, a user may receive the haptic effect in addition to or instead of a shape deformation of haptic deformation display device 102.

IO device 116 may include, among other things, one or more of a display, a touch screen, a light, a speaker, a button, and/or other user interface component for input and output.

According to various embodiments of the invention, sensor 117 may include sensors and/or encoders such as a force sensor, a torque sensor, a pressure sensor, or other sensor configured to sense an input. Sensor 117 may be disposed on an outer surface of haptic deformation display device 102 (such as on a housing of haptic deformation display device 102), disposed inside the housing, and/or be included as part of actuator 110. In some embodiments, for example, actuator 110 may include an actuator configured to both actuate and sense inputs such as electroactive polymer actuators.

In some embodiments, sensor 117 may sense input such as a force, a shaking, a gesture, or other input from a user to a housing or other component of haptic deformation display device 102.

In some embodiments, sensor 117 may generate sensory input representative of the sensed input. The sensory input may be used to cause deformation demands such as shape configurations to haptic deformation display device 102 and vice versa. In other words, in some embodiments, sensor 117 generates sensory input and causes haptic deformation display device 102 to deform its shape in response to the sensory input.

In some embodiments, sensor 117 may be used to communicate inputs to and/or from remote device 104. For example, sensor 117 may receive input signals from remote device 104 and/or cause sensory input to be transmitted to remote device 104. In this manner, remote device 104 may receive and respond to sensory input from haptic deformation display device 102 and/or haptic deformation display device 102 may deform its shape in response to input from remote device 104.

Thus, in some embodiments, haptic deformation display device 102 may be configured to deform its shape, sense inputs (such as force from a user) imparted to a housing or other component of haptic deformation display device 102, and/or communicate (transmit and/or receive) signals with remote device 104.

Processor 118 may be configured to perform various functions of haptic deformation display device 102 such as, for example, communicating information to and from a user, causing actuator 110 to move deformation component 114, and/or other functions.

Memory 120 may store instructions for configuring processor 118 to perform the various functions of haptic deformation display device 102 and/or store other information related to haptic deformation display device 102. For example, memory 120 may include shape instructions for associating a shape input signal with a particular haptic response to be output by actuators 110 that causes a particular shape configuration of haptic deformation display device 102. In some embodiments, memory 120 associates different shape input signals with different forces to be output by actuator 110 in a lookup table. This association may be used to cause different shape deformations based on the different shape input signals. In this manner, processor 118 may perform a lookup of the shape input signal to cause actuator 110 to deform the shape of haptic deformation display device 102.

In some embodiments, haptic deformation display device 102 may receive the shape input signal from remote device 104. For example, remote device 104 may include a gaming console that runs a game application and communicates the shape input signal to haptic deformation display device 102. The shape input signal may be related to or otherwise correspond with game events. The game events may be user-driven events or user-independent events. User-driven events include events that respond to user actions such as, for example, when a user manipulates an object such as a tennis ball in a tennis gaming application. User-independent events include events that occur independent of user actions such as events occurring in the game beyond the control of the user. In some embodiments, sensor 117 may transmit sensory input to remote device 104. In response to the sensory input, remote device 104 may cause haptic deformation display device 102 to deform its shape configuration. In some embodiments, remote device 104 may be another haptic deformation display device. Thus, haptic deformation display device 102 may communicate with various remote devices and receive and/or transmit signals such as a shape input signal that cause shape deformation of haptic deformation display device 102 and/or remote device 104. In this manner, a user of remote device 104 may communicate a shape input signal that cause haptic deformation display device 102 to deform its shape configuration.

In some embodiments, haptic deformation display device 102 may locally determine the shape input signal (thus, receiving the shape input signal from itself). In some embodiments, processor 118 may locally generate the shape input signal in response to a manipulation of IO device 116. For example, IO device 116 may include one or more user inputs that when manipulated causes processor 118 to generate the shape input signal. In some embodiments, IO device 116 includes one or more buttons that when pressed cause haptic deformation display device 102 to deform into one or more shapes corresponding to the pressed button. For example, a user may press a first button that causes haptic deformation display device 102 to deform into a first shape such as a ball, press a second button that causes haptic deformation display device 102 to deform into a second shape such as a bat, press a third button that causes haptic deformation display device 102 to deform into a dynamically moving wave, and/or manipulate other IO device 116 inputs that causes haptic deformation display device 102 to deform into one or more shapes. In some embodiments, processor 118 may locally generate the shape input signal based sensory input from sensor 117.

In some embodiments, processor 118 may locally generate the shape input signal in response to information from remote device 104. For example, haptic deformation display device 102 may receive event information related to an event occurring at remote device 104. In response to the event information, haptic deformation display device 102 may generate the shape input signal, thereby locally determining the shape input signal based on information received from remote device 104.

In an operation according to various embodiments of the invention, shape deformation device 102 may receive a shape input signal. The shape input signal may be received from a remote source such as remote device 104 or a local source such as processor 118. For example, when running a tennis game application, remote device 104 may communicate a shape input signal that causes haptic deformation display device 102 to form the shape of a tennis racket handle. When a game character is holding a tennis ball, the shape input signal may cause haptic deformation display device 102 to approximate the shape of a ball. Regardless of the source of the shape input signal, haptic deformation display device 102 causes actuator 110 to move deformation component 114 in response to the shape input signal. Movement of deformation component 114 causes an outer shape of haptic deformation display device 102 to deform from a first shape configuration to a different shape configuration.

FIG. 1 and other drawing figures are illustrative only and not intended to be limiting. Those having skill in the art will appreciate that various configurations, additions, and/or omissions may be used. For example, although illustrated as having a single actuator 110, a single deformation component 114, and a single IO device 116, various numbers and configurations of either of these and other components may be used according to particular needs.

FIG. 2a is a block diagram of a cutaway view of haptic deformation display device 102 in a non-deformed shape configuration, according to various embodiments of the invention. According to various embodiments, haptic deformation display device 102 includes arms 202 a, 202 b, 202 c, 202 d, 202 n (“arm 202” for convenience) each coupled to one or more actuators (not illustrated in FIG. 2a ). In some embodiments, each arm 202 may be coupled to its own actuator. In some embodiments, two or more arms 202 may share a single actuator using various linkages (not illustrated in FIG. 2a ). In some embodiments, arm 202 may form at least a portion of actuator 110, thereby at least partially forming a moving portion of actuator 110.

In some embodiments, an arm 202 includes a shape that is oblong. In other words, arm 202 may include a first dimension such as a length along a plane that is longer than a second dimension such as a width along the plane. Thus, rotation of arm 202 (illustrated by arrows described in FIG. 2b below) about an axis perpendicular to the plane causes arm 202 to contact any objects along a rotation path of arm 202, causing arm 202 to contact objects in the rotation path as arm 202 rotates.

In some embodiments, each arm 202 may be coupled to one or more respective deformation components 114 a, 114 b, 114 c, 114 d, 114 n (“deformation component 114” for convenience). Deformation component 114 may be positioned along the rotation path of arm 202, thereby being moved as arm 202 is rotated. Deformation component 114 at least partially defines the shape of haptic deformation display device 102. Thus, the shape of haptic deformation display device 102 may deform into a second shape configuration different from the first shape configuration when deformation component 114 is moved. In some embodiments, deformation component 114 forms at least a portion of a housing of haptic deformation display device 102. In some embodiments, deformation component 114 is enclosed within a flexible housing such that movement of deformation component 114 moves the flexible housing. In either implementation, movement of deformation component 114 causes haptic deformation display device 102 to deform into the second shape configuration.

In operation, an actuator causes arm 202 to rotate based on a shape input signal. Deformation component 114 is positioned along the rotation path of arm 202 such that deformation component 114 is moved as arm 202 is rotated, thereby causing the shape of haptic deformation display device 102 to deform.

FIG. 2b is a block diagram of a cutaway view of a device in a deformed shape configuration, according to various embodiments of the invention. As illustrated in FIG. 2b , arm 202 a and arm 202 d are in an original position, which may correspond to a non-deformed shape configuration of deformation component 114. Arms 202 b, 202 c, and 202 n are rotated with respect to the original position.

In some embodiments, arm 202 may be rotated according to one or more rotation parameters. The rotation parameters may include, for example, a rotational angle, magnitude (such as torque), and/or other parameters used to activate the actuator.

In some embodiments, each arm may be rotated according to a rotational angle by which arms 202 b, 202 c, and 202 n are rotated. Different rotational angles may result in different amounts by which deformation components 114 b, 114 c, and 114 n are moved. In other words, different rotation angles in which arm 104 is rotated causes a different deformation effect on deformation component 114.

In some embodiments, each arm 202 may be rotated at different speeds and/or different angles relative to a neighboring arm. For example, arm 202 a may be rotated at a different speed than arm 202 b, which may be accomplished by applying more torque to arm 202 a than to arm 202 b. Thus, different haptic effects and/or shape configurations may be caused by different rotational speeds.

In some embodiments, movement of arms 202 may be coordinated to create a “waveform effect.” The waveform effect may be accomplished by rotating arms 202 at different rotation angles relative to one another to move deformation components 114 in a manner that simulates a wave shape. The wave shape may be defined by one or more apexes, where an apex occurs when a deformation component 114 is maximally extended, which may occur when an arm 202 is rotated substantially at 90 degrees in either direction with respect to the original position, thereby maximally extending deformation component 114.

In some embodiments, the waveform effect may be substantially continuously updated such that the one or more apexes move from a first location of haptic deformation display device 102 to a second location of haptic deformation display device 102. This may be accomplished, for example, by causing arms 202 to rotate at substantially 90 degrees relative to the original position at different times such that an apex moves from the first location to the second location. An arm 202 adjacent to the apex may be rotated from zero to approximately 90 degrees with respect to the original position, where rotational angles closer to zero degrees result in deformation components 114 further from the apex while rotational angles closer to 90 degrees result in deformation components closer to the apex.

FIG. 2c is a block diagram of haptic deformation display device 102 with a top plate 210 in a deformed shape configuration, according to various embodiments of the invention. In some embodiments of the invention, top plate 210 may protect an inner portion of haptic deformation display device 102 upon deformation. In these embodiments, haptic deformation component 114 forms at least a portion of a housing of haptic deformation display device 102.

FIG. 2d is a block diagram of haptic deformation display device 102 with a flexible housing 220 in a deformed shape configuration, according to various embodiments of the invention. In some embodiments of the invention, deformation component 114 is disposed inside deformable housing 220. In these embodiments, deformable housing 220 may be formed using flexible material, such as rubber or other flexible material, that may deform based on movement of deformation component 114.

In FIGS. 2a, 2b, 2c, and 2d , while five deformation components are illustrated, in some embodiments, various shapes, sizes, and number of components may be used to achieve greater or lesser granularity of shape profile in a dynamic manner. For instance, water wave forms can be realistically generated on this device using a much larger number of deformation components in one embodiment.

FIGS. 3a -1 and 3 a-2 are cross-sectional views of a haptic deformation display device 102 in a non-deformed shape configuration with a super-imposed partial view of the non-deformed shape as illustrated in FIG. 2a , according to various embodiments of the invention. In some embodiments of the invention, haptic deformation display device 102 includes a top plate 310 and a bottom plate 302 coupled to deformation component 114 (illustrated as deformation component 114 a). Arm 202 a is coupled to actuator 112, which may be coupled to bottom plate 302 for support. When activated, actuator 112 rotates arm 202 a, thereby causing arm 202 a to move deformation component 114 a in a direction indicated by arrows. Although shown as being centered, actuator 112 may be position offset from the center.

FIGS. 3b -1 and 3 b-2 are cross-sectional views of a haptic deformation display device 102 in a deformed shape configuration with a super-imposed partial view of the deformed shape as illustrated in FIG. 2b , according to various embodiments of the invention. In some embodiments of the invention, haptic deformation display device 102 includes a top plate 310 and a bottom plate 302 coupled to deformation component 114 (illustrated as deformation component 114 b). Arm 202 b is coupled to actuator 112, which may be coupled to bottom plate 302 for support. As illustrated, arm 202 b is rotated by actuator 112 such that deformation component 114 b is extended, thereby deforming the shape of haptic deformation display device 102. In some embodiments, haptic deformation display device 102 includes a returning force component 304 such as a spring or other component that causes a returning force in a direction indicated by arrows. Thus, when arm 202 b is rotated from the original position to a rotational angle of 90 degrees relative to the original position, deformation component 114 may be moved against the returning force. When arm 202 b is rotated from a rotational angle of 90 degrees to 180 degrees (or back to the original position), the returning force may cause deformation component 114 to move in the direction indicated by arrows.

FIG. 4 is a cross-sectional view of haptic deformation display device 102, according to various embodiments of the invention. In some embodiments of the invention, haptic deformation display device 102 includes a bottom plate 402, a top plate 410, an actuator 412, and a deformation component 414. Deformation component 414 may be movably coupled to bottom plate 402 and top plate 410. Actuator 412 may be grounded to bottom 402 or other component of haptic deformation display device 102 and may directly cause deformation component 414 to move in a direction indicated by the arrow illustrated in FIG. 4. Thus, in some embodiments, actuator 412 may directly move deformation component 414, thereby deforming the shape configuration of haptic deformation display device 102.

FIG. 5 is a perspective view of a block diagram of haptic deformation display device 102, according to various embodiments of the invention. In some embodiments of the invention, haptic deformation display device 102 includes a deformation component 514 a and a deformation component 514 b. As illustrated in FIG. 5, deformation component 514 a may be moved in a first direction indicated by the arrow labeled “A” while deformation component 514 b may be moved in a second direction indicated by the arrow labeled “B.” As would be appreciated by those having skill in the art, other numbers and configurations of deformation component 514 a and deformation component 515 b may be used as appropriate. Thus, in some embodiments, haptic deformation display device 102 may include deformation components that are moved in different directions, thereby allowing deformation of the shape configuration in three dimensional space.

FIG. 6 is a flow diagram of a process 600 for shape deformation, according to various embodiments of the invention. FIG. 6 is a flow diagram of an example process 600 for shape deformation, according to various embodiments of the invention. The various processing operations depicted in the flow diagram of FIG. 6 (and in the other drawing figures) are described in greater detail herein. The described operations for a flow diagram may be accomplished using some or all of the system components described in detail above and, in some embodiments, various operations may be performed in different sequences. According to various embodiments of the invention, additional operations may be performed along with some or all of the operations shown in the depicted flow diagrams. In yet other embodiments, one or more operations may be performed simultaneously. Accordingly, the operations as illustrated (and described in greater detail below) are examples by nature and, as such, should not be viewed as limiting.

In an operation 602, an input signal may be received. In some embodiments, the input signal may include a haptic shape input signal that causes a device to deform its shape configuration into, for example, a shape of a ball. In some embodiments, the input signal may include information that describes one or more events, such as a tennis serve, occurring at a remote device such as a gaming console. In these embodiments, the haptic shape input signal may be determined locally based on the one or more events. For example, an input signal indicating a tennis serve is occurring at a remote device may be received by the device. In response, the device may determine a haptic shape input signal that causes the device to deform its shape configuration into a ball.

In an operation 604, a deformation component may be moved in response to the received input signal. The deformation component defines at least a portion of the shape configuration of the device. Thus, movement of the deformation component deforms the shape configuration. In some embodiments, an actuator may move the deformation component directly or indirectly in response to the input signal.

In an operation 606, the deformed shape configuration may be substantially maintained until another input signal is received and/or the received input signal causes continuous shape deformation. In other words, in some embodiments, the input signal causes the deformed shape configuration to be substantially maintained until further instructed. In some embodiments, the input signal causes the deformed shape configuration to be changed after an interval of time, thereby causing the device to deform the shape configuration at intervals.

FIG. 7 is a flow diagram of a process 604 for moving a deformation component, according to various embodiments of the invention. In an operation 702, one or more rotation parameters may be determined based on the received input signal. The rotation parameters may describe parameters used to rotate an arm coupled to an actuator, wherein a rotation of the arm causes the deformation component to move. In an operation 704, the actuator may rotate the arm based on the determined rotation parameters, thereby moving the deformation component.

Embodiments of the invention may be made in hardware, firmware, software, or any suitable combination thereof. Embodiments of the invention may also be implemented as instructions stored on a machine-readable medium, which may be read and executed by one or more processors. A tangible machine-readable medium may include any mechanism for storing or transmitting information in a form readable by a machine (e.g., a computing device). For example, a tangible machine-readable storage medium may include read only memory, random access memory, magnetic disk storage media, optical storage media, flash memory devices, and other tangible storage media. Intangible machine-readable transmission media may include intangible forms of propagated signals, such as carrier waves, infrared signals, digital signals, and other intangible transmission media. Further, firmware, software, routines, or instructions may be described in the above disclosure in terms of specific exemplary embodiments of the invention, and performing certain actions. However, it will be apparent that such descriptions are merely for convenience and that such actions in fact result from computing devices, processors, controllers, or other devices executing the firmware, software, routines, or instructions.

Embodiments of the invention may be described as including a particular feature, structure, or characteristic, but every aspect or implementation may not necessarily include the particular feature, structure, or characteristic. Further, when a particular feature, structure, or characteristic is described in connection with an aspect or implementation, it will be understood that such feature, structure, or characteristic may be included in connection with other embodiments, whether or not explicitly described. Thus, various changes and modifications may be made to the provided description without departing from the scope or spirit of the invention. As such, the specification and drawings should be regarded as exemplary only, and the scope of the invention to be determined solely by the appended claims. 

What is claimed is:
 1. A method performed by a handheld haptic deformation device for deforming a flexible housing of the handheld haptic deformation device, comprising: generating or receiving, by the handheld haptic deformation device, a shape input signal when the flexible housing of the handheld haptic deformation device is in a first shape configuration, wherein the handheld haptic deformation device comprises a plurality of deformation components contained within the flexible housing, and wherein the shape input signal is generated by the handheld haptic deformation device or by a host computer in communication with the handheld haptic deformation device and is based on a shape of a virtual object being held by a character in an application that either is executing on the handheld haptic deformation device or is in communication with the handheld haptic deformation device; activating a plurality of actuators of the handheld haptic deformation device based on the shape input signal, wherein the plurality of actuators are configured to move the plurality of deformation components based on the shape input signal, wherein movement of the plurality of deformation components by the plurality of actuators causes a first plurality of corresponding regions of the flexible housing of the handheld haptic deformation device to deform in a first direction and causes a second plurality of corresponding regions of the flexible housing that are opposite to the first plurality of corresponding regions to deform in a second and opposite direction, and wherein deformation of the first plurality of corresponding regions by the plurality of deformation components and deformation of the second plurality of corresponding regions by the plurality of deformation components cause the handheld haptic deformation device to deform into a second shape configuration that is different from the first shape configuration and that approximates the shape of the virtual object being held by the character in the application; and substantially maintaining the second shape configuration until another shape input signal is generated or received by the handheld haptic deformation device.
 2. The method of claim 1, wherein the application is executed within the handheld haptic deformation device.
 3. The method of claim 2, wherein the application is a gaming application.
 4. The method of claim 1, wherein the shape input signal is further based upon a sensory input that is sensed by at least one sensor of the handheld haptic deformation device.
 5. The method of claim 4, wherein the sensory input comprises a user gesture.
 6. The method of claim 1, wherein the flexible housing comprises a flexible material that covers the plurality of deformation components, and wherein movement of the plurality of deformation components deforms the flexible material covering the plurality of deformation components.
 7. A handheld haptic deformation device, comprising: a plurality of actuators; a flexible housing having a flexible material; a plurality of deformation components contained within the flexible housing of the handheld haptic deformation device, wherein the flexible material of the flexible housing covers the plurality of deformation components; and a processor configured to receive or generate a shape input signal and to activate the plurality of actuators based on the shape input signal, wherein the shape input signal is based on a shape of a virtual object being held by a character in an application that either is executing on the handheld haptic deformation device or is in communication with the handheld haptic deformation device, wherein the plurality of actuators are configured to move the plurality of deformation components based on the shape input signal, wherein the plurality of deformation components, when moved by the plurality of actuators, are configured to deform a first plurality of corresponding regions of the flexible housing in a first direction and to deform a second plurality of corresponding regions of the flexible housing in a second and opposite direction, wherein the second plurality of corresponding regions are opposite the first plurality of corresponding regions, wherein deformation of the first plurality of corresponding regions by the plurality of deformation components and deformation of the second plurality of corresponding regions by the plurality of deformation components are configured to cause the flexible housing of the handheld haptic deformation device to deform from a first shape configuration into a second shape configuration that approximates the shape of the virtual object being held by the character in the application, and that is different from the first shape configuration, and wherein the plurality of actuators are configured to substantially maintain the flexible housing in the second shape configuration until another shape input signal is received or generated by the processor.
 8. The handheld haptic deformation device of claim 7, wherein the application is executed within the handheld haptic deformation device.
 9. The handheld haptic deformation device of claim 7, wherein the handheld haptic deformation device comprises at least one sensor, the processor further configured to: receive a sensory input from the at least one sensor, wherein the shape input signal is further based on the sensory input.
 10. The handheld haptic deformation device of claim 7, wherein each deformation component of the plurality of deformation components comprises a first portion and a second portion configured to be moved away from each other by a respective actuator of the plurality of actuators, wherein each deformation component of the plurality of deformation components comprises a spring configured to exert forces on the first portion and the second portion of the deformation component in respective directions that would move the first portion and the second portion toward each other.
 11. The handheld haptic deformation device of claim 7, wherein each actuator of the plurality of actuators is a rotating actuator configured to move two portions of a respective deformation component away from each other.
 12. A non-transitory computer readable medium having computer-executable instructions that, when executed by a processor of a handheld haptic deformation device that has a plurality of deformation components and a plurality of actuators contained within a flexible housing, cause the processor to generate a shape input signal when the flexible housing of the handheld haptic deformation device is in a first shape configuration, and wherein the shape input signal is generated based on a shape of a virtual object being held by a character in an application that either is executing on the handheld haptic deformation device or is in communication with the handheld haptic deformation device; and to activate the plurality of actuators based on the shape input signal, wherein the plurality of actuators are configured to move the plurality of deformation components based on the shape input signal, and wherein movement of the plurality of deformation components by the plurality of actuators causes a first plurality of corresponding regions of the flexible housing of the handheld haptic deformation device to deform in a first direction, and causes a second plurality of corresponding regions of the flexible housing that are opposite to the first plurality of corresponding regions to deform in a second and opposite direction, wherein deformation of the first plurality of corresponding regions by the plurality of deformation components and deformation of the second plurality of corresponding regions by the plurality of deformation components are configured to cause the handheld haptic deformation device to deform into a second shape configuration that is different from the first shape configuration and that approximates the shape of the virtual object being held by the character in the application, and to substantially maintain the second shape configuration until another shape input signal is generated or received by the handheld haptic deformation device. 